# Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction*

> Research article (Advanced Robotics, 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3096313014](https://www.wikidata.org/wiki/openalex:W3096313014)  
**Source**: https://4ort.xyz/entity/online-generation-and-control-of-quasi-static-multi-contact-motion-by-pwt-jacobian-matrix-with-contact-wrench-estimation